Group Session Slides

Slides and notes from the group sessions will be published here. You can also find older group session notes on GitHub here.

Topic	Slides	Description
Introduction	Intro slides (norsk) , Intro slides (English)	Administrative stuff: mails, assignments, and learning materials General info about the course Expected prior knowledge Recap: manipulator structure, drawings, workspace, and DOFs.
Transformations	Homogeneous transforms Worked Examples	Methods for finding homogeneous transforms Example calculation Compositions of rotations Parametrizations of rotations Basic homogeneous transforms
Forward kinematics	Forward Kinematics	Video about DH parameters (also found in the section from 2024)
Inverse kinematics	Inverse Kinematics: Geometric and Analytical Formula Sheet with Trigonometric Identities Analytical_2018 Geometric_2018	Methods: geometric and analytical Geometric approach example Analytical approach example Trigonometric formulas
Velocity kinematics	Velocity Kinematics I and II Singularity (explained in the notes) Detailed Examples from Thursday Stanford Arm Python Program	Jacobian matrix and how to find it How to use the Jacobian Example calculations Singularities and how to find them
Dynamics	Dynamics Calculations Dynamics Menti
ROS	ROS Menti
Control theory	Please use the resources from 2024 (in the table below)?
Exam Prep	2024 Suggested Solutions from 15.05 2024 multiple choice questions 2024 exam without the answers Methods for Inverse Kinematics Dynamics Example

Notes from the previous group teachers:

2021	Slides	2024	Slides
Introduction	slides	Introduction	Intro slides
Transformations	slides	Transformations	Homogeneous transforms
Forward kinematics	notes, draft, solutions	Forward kinematics	DH parameters , link to a good Video (worth it!!)
Inverse kinematics	session 1, session 2	Inverse kinematics	Inverse kinematics part 1 Algebra_approach Geometric approach 2021_exam_example
Velocity kinematics	session 1, session 2	Velocity kinematics	Velocity kinematics 2 Jacobian and singularities code
Dynamics	session 1, session 2	Dynamics	Dynamics part 1 Notes from old group teacher
		ROS	Ros tutorial (updated) publisher.py
Control Theory	session 1, session 2	Control theory	Assingment 4 notes!! Control theory part 1 Control theory part 2
Extra curricular	slides, inspera (eng), inspera (norsk)	Extra stuff	Example code sympy Dynamics and control theory repetition Repetisjon og noen oppgaver